Accurate 3D Mapping Algorithm for Flexible Antennas

Algorithm 1

Initial 3D mapping using circular targets.

 Input: Undistorted image (frame) F.

 Output: 3D pointcloud.

1: Let .

2:

3: for each triplet do Compute a 3D point: as follows:

 (1) The x,y coordinates of p_i are the center values of t_i

 (2)  ← the normal of the target.

 (3) ∆α_i ← the angular difference between and the vector to t_i.

 (4) Let

4: end for